Warning audio control method, device and equipment, storage medium and vehicle

Abstract

The invention discloses a warning audio control method and device, electronic equipment, a storage medium and a vehicle, and belongs to the technical field of audio control. The method comprises the following steps: acquiring an environment sensing parameter and a scene sensing parameter of a position where a warning initiating main body is located; active obstacles in the peripheral range of the warning initiating body are detected, and azimuth information of each active obstacle relative to the warning initiating body is determined; according to the azimuth information, determining a directivity parameter of a warning audio to be sent by the warning initiating main body; and at least determining a high-frequency band frequency value and / or an audio volume value of the warning audio according to the environment perception parameters, the scene perception parameters, and frequency difference parameters and frequency comparison and combination times of a filtering module in the warning initiation main body. According to the method and the device, the warning audio pointing, the warning audio frequency band and / or the warning audio volume can be adaptively adjusted at least according to different environments and driving scenes, the warning effect and the noise interference degree of the warning audio can be considered, and the traffic accident risk can be reduced.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of audio control technology, and in particular to a warning audio control method, device, electronic device, storage medium, and vehicle. Background Art

[0002] For example, with the widespread use of electric and hybrid vehicles, the noise produced by vehicles at low speeds is extremely low. This makes it difficult for pedestrians to detect approaching vehicles through sound, which inadvertently increases the risk of traffic accidents. To address this issue, vehicles are often equipped with pedestrian warning functions that emit a sound when the vehicle is traveling at low speeds to alert pedestrians.

[0003] However, existing pedestrian warning systems still have many shortcomings. For one thing, the sound effects of warning sounds are often fixed and cannot be adaptively adjusted to different environments and driving scenarios. For example, using the same warning sound in both noisy city streets and quiet residential areas can make it difficult to clearly identify the warning sound in noisy environments, while being too abrupt and harsh in quiet environments, causing discomfort to pedestrians and surrounding residents. Furthermore, existing pedestrian warning systems fail to fully consider the impact of the relative position of the vehicle and pedestrian on the warning sound effect, making it difficult to accurately transmit the warning sound to pedestrians, thus affecting the warning effect. Summary of the Invention

[0004] Embodiments of the present invention provide a warning audio control method, device, electronic device, storage medium, and vehicle, which can adaptively adjust the warning audio direction, warning audio frequency band, and / or warning audio volume according to at least different environments and driving scenarios, and can take into account both the warning effect and the degree of noise interference of the warning audio, thereby helping to reduce the potential risk of traffic accidents.

[0005] In a first aspect, an embodiment of the present invention provides a warning audio control method, comprising at least:

[0006] Obtaining at least one environmental perception parameter and at least one scene perception parameter of the spatial location of the alert initiating subject;

[0007] Detecting at least one active obstacle within a preset spatial range where the warning initiating subject is located, and determining the position information of each active obstacle relative to the warning initiating subject;

[0008] Determining the directional parameters of the warning audio to be emitted by the warning initiating entity according to the direction information;

[0009] At least the high frequency band frequency value and / or audio volume value of the warning audio are determined based on at least the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and frequency comparison combination number of the filter module in the warning initiating body.

[0010] Optionally, determining at least a high-frequency band frequency value and / or an audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and a frequency difference parameter and a frequency comparison combination number of a filter module in the warning initiating subject specifically includes:

[0011] Determining a center frequency value of the filter module at least according to the environmental perception parameter and the scene perception parameter, and then calculating a bandwidth of the filter module based on the center frequency value;

[0012] The high frequency band frequency value is calculated at least according to the center frequency value, the bandwidth size, the frequency difference parameter and the number of frequency comparison combinations.

[0013] Optionally, determining at least a high-frequency band frequency value and / or an audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and a frequency difference parameter and a frequency comparison combination number of a filter module in the warning initiating subject specifically includes:

[0014] Determining a center frequency value of the filter module at least according to the environmental perception parameter and the scene perception parameter, and then calculating a bandwidth of the filter module based on the center frequency value;

[0015] Calculating the high frequency band frequency value at least based on the center frequency value, the bandwidth size, the frequency difference parameter, and the number of frequency comparison combinations;

[0016] When the frequency comparison and combination times is zero, determining an original volume value based at least on the center frequency value and the bandwidth size;

[0017] When the frequency comparison and combination times are non-zero, determining a volume increase value based at least on the frequency value of the high frequency band;

[0018] The audio volume value is calculated according to the original volume value and the volume increase value.

[0019] Optionally, the bandwidth of the filtering module is calculated at least in the following manner:

[0020] EPB = 24.7 × (4.37 × Fc + 1);

[0021] Wherein, EPB represents the bandwidth size, and Fc represents the center frequency value.

[0022] Optionally, the high frequency band frequency value is calculated at least in the following manner:

[0023] f(n)=EPB+Fc-nf d ;

[0024] Wherein, f(n) represents the frequency value of the high frequency band, n represents the number of times the frequency comparison is combined, and f d represents the frequency difference parameter.

[0025] Optionally, the audio volume value is calculated at least in the following manner:

[0026] L(f)=L(0)+L(n);

[0027] Wherein, L(f) represents the audio volume value, L(0) represents the original volume value, and L(n) represents the volume increase value.

[0028] In a second aspect, an embodiment of the present invention further provides a warning audio control device, comprising at least:

[0029] A parameter acquisition module, configured to acquire at least one environmental perception parameter and at least one scene perception parameter of the spatial location of the alert initiating subject;

[0030] a position information determination module, configured to detect at least one movable obstacle within a preset spatial range where the warning initiating subject is located, and determine the position information of each movable obstacle relative to the warning initiating subject;

[0031] A first parameter determination module is used to determine the directional parameters of the warning audio to be emitted by the warning initiating subject according to the direction information;

[0032] The second parameter determination module is at least used to determine at least the high-frequency band frequency value and / or audio volume value of the warning audio based on the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and frequency comparison combination number of the filter module in the warning initiating body.

[0033] In a third aspect, an embodiment of the present invention further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the steps of any one of the warning audio control methods described in the first aspect are implemented.

[0034] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any one of the warning audio control methods described in the first aspect.

[0035] In a fifth aspect, an embodiment of the present invention further provides a vehicle that integrates at least a warning sound emitting device and the warning audio control device as described in the second aspect;

[0036] The warning sound emitting device is connected to the warning audio control device, and is at least used to emit the warning audio according to the directionality parameter, the high frequency band frequency value and / or the audio volume value issued by the warning audio control device.

[0037] The technical solution provided by the embodiment of the present invention first obtains at least one environmental perception parameter and at least one scene perception parameter of the spatial position of the warning initiating subject; secondly, detects at least one active obstacle within the preset spatial range where the warning initiating subject is located, and determines the orientation information of each active obstacle relative to the warning initiating subject; then, determines the directional parameters of the warning audio to be issued by the warning initiating subject based on the orientation information; finally, determines at least the high-frequency band frequency value and / or audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and the number of frequency comparison combinations of the filter module in the warning initiating subject.

[0038] In view of this, taking a vehicle as an example, on the one hand, the embodiment of the present invention can dynamically adjust at least the warning audio direction, warning audio frequency band and / or warning audio volume by real-time sensing the environment, scene and the relative position of active obstacles (such as pedestrians) relative to the warning initiator (i.e., the vehicle itself), so that the warning audio can be clearly and effectively conveyed to pedestrians in different situations, greatly improving the recognition and warning effect of the warning audio, and helping to reduce the possibility of traffic accidents. On the other hand, the embodiment of the present invention can use sound effects that are adapted to the scene in different scenarios, avoiding the warning audio being too harsh or abrupt in certain scenarios, improving the comfort of pedestrians and surrounding residents, and reducing noise interference to the environment. On the other hand, the embodiment of the present invention can automatically make intelligent adjustments based on various real-time information without manual intervention, adapting to different driving environments and scene changes, and providing more reliable protection for traffic safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 is a flow chart of a warning audio control method provided by an embodiment of the present invention;

[0041] Figure 2 1 is a schematic structural diagram of a warning audio control device provided by an embodiment of the present invention;

[0042] Figure 3 is a structural diagram of an electronic device provided by an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of a partial structure of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0045] The terms used in the examples of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a," "the," and "the" used in the examples of this application and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0046] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0047] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0048] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0049] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0050] It should be noted in particular that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0051] Figure 1 This is a flow chart of a warning audio control method provided by an embodiment of the present invention. This embodiment is at least applicable to warning audio control and playback scenarios of various vehicles, especially passenger cars. The warning audio control method can be, but is not limited to, executed by the warning audio control device in the embodiment of the present invention as the execution subject, and the execution subject can be implemented in software and / or hardware. Figure 1 As shown, the warning audio control method includes at least the following steps:

[0052] S1. Obtain at least one environmental perception parameter and at least one scene perception parameter of the spatial location of the alert initiating subject.

[0053] The warning initiator may be, but is not limited to, the aforementioned passenger car.

[0054] It can be seen that environmental perception parameters (for example, sound information, noise intensity, light intensity, etc.) and / or scene perception parameters (for example, vehicle speed, GPS positioning, map data, etc.) can be obtained through sensors equipped by the warning initiating entity itself (such as microphones, noise sensors, sunlight sensors, vehicle speed sensors, etc.).

[0055] Specifically, passenger cars can use microphones to collect sound information from the surrounding environment, measure the intensity level of ambient noise through noise sensors, and obtain ambient light intensity based on sunlight sensors. Furthermore, passenger cars can also use the cockpit domain controller to judge the noise level and day and night conditions of the environment based on the data from these sensors. For example, during the day, when the ambient noise intensity is greater than 60 decibels, the current environment is judged to be a noisy daytime environment, and at night, when the ambient noise intensity is less than 40 decibels, the current environment is judged to be a quiet nighttime environment.

[0056] In addition, passenger cars can use the cockpit domain controller in conjunction with vehicle speed sensors, GPS positioning information, and map data to identify the vehicle's current driving scenario. For example, if the vehicle's speed is less than 30 km / h and the GPS positioning indicates it is located in an area such as a school or hospital, the vehicle is determined to be in a low-speed driving scenario in a sensitive area; if the vehicle's speed is between 10 km / h and 20 km / h and it is in a parking lot, the vehicle is determined to be in a parking lot driving scenario.

[0057] S2. Detect at least one active obstacle within a preset spatial range where the warning initiating subject is located, and determine the position information of each active obstacle relative to the warning initiating subject.

[0058] Among them, active obstacles can be, for example, pedestrians, small animals, other moving vehicles, etc. The detection of active obstacles can be performed in real time by vehicle-mounted equipment such as millimeter-wave radar and cameras, and the preset spatial range can depend on the effective detection range of the above-mentioned vehicle-mounted equipment.

[0059] For example, millimeter-wave radar and cameras can be used simultaneously to detect the relative position of the vehicle and pedestrians (including distance, azimuth, and other positional information) in real time. Specifically, the millimeter-wave radar can accurately measure the distance between the vehicle and the pedestrian, and the camera can determine the azimuth angle of the pedestrian relative to the vehicle through image recognition technology.

[0060] S3. Determine the directional parameters of the warning audio to be issued by the warning initiator based on the direction information.

[0061] Among them, the warning audio can be emitted through a speaker.

[0062] It can be understood that the directivity parameter can be a parameter that characterizes the ability of a loudspeaker to radiate sound waves in different directions, and it is usually related to the frequency of the sound waves. In the case of low frequencies, the wavelength of the audio signal is relatively long, and the effective length of the loudspeaker's radiation surface is much smaller than the wavelength of the radiated sound waves. At this time, the loudspeaker can be regarded as a point source, and the sound waves it radiates are non-directional. For example, the subwoofer unit in a car audio system can restore ultra-low-frequency audio signals below 100Hz, has a long sound wave wavelength, strong diffraction ability, and no obvious directivity. As the frequency of the audio signal increases, the wavelength of the sound wave becomes shorter and shorter. When the wavelength of the sound wave is close to or even too small than the effective length of the loudspeaker's radiation surface, due to the diffraction characteristics of the sound wave, the higher the frequency, the shorter the wavelength, and the weaker the diffraction ability, the sound waves radiated by the loudspeaker will show obvious directivity (the sound waves can be directed towards active obstacles). A typical example is the tweeter unit in a car audio system.

[0063] S4. Determine at least a high-frequency band frequency value and / or an audio volume value of the warning audio based on at least the environment perception parameter, the scene perception parameter, and the frequency difference parameter and the frequency comparison combination number of the filter module in the warning initiating subject.

[0064] Wherein, the filtering module at least includes a filter.

[0065] In a specific embodiment, the calculation process of the frequency difference parameter can be specifically as follows: first, a frequency value is randomly selected from the first preset frequency band range near the high-end cutoff frequency of the filter module (i.e., the maximum frequency that the filter module can pass) as the high-frequency value; then, a frequency value is randomly selected from the second preset frequency band range near the low-end cutoff frequency of the filter module (i.e., the minimum frequency that the filter module can pass) as the low-frequency value; finally, the difference between the high-frequency value and the low-frequency value is the frequency difference parameter. It can be seen that both the high-frequency value and the low-frequency value do not exceed the bandwidth of the filter module, and the frequency difference parameter is also less than the bandwidth of the filter module. Based on the above-mentioned calculation process of the frequency difference parameter, the frequency comparison combination times are initially 0, and the frequency difference parameter is calculated once for each iteration, and the frequency comparison combination times are correspondingly increased by 1.

[0066] In another specific embodiment, if only the high-frequency band frequency value of the warning audio is determined in the above step S4, then step S4 specifically includes:

[0067] (4-1) Determine the center frequency value of the filter module based on at least the environmental perception parameter and the scene perception parameter, and then calculate the bandwidth size of the filter module based on the center frequency value.

[0068] The mapping relationship between the environment perception parameters, scene perception parameters and center frequency values ​​can be obtained through pre-experimental calibration.

[0069] In another specific embodiment, optionally, the bandwidth of the filter module is calculated at least in the following manner:

[0070] EPB = 24.7 × (4.37 × Fc + 1);

[0071] Where, EPB represents the bandwidth, and Fc represents the center frequency.

[0072] (4-2) Calculate the frequency value of the high frequency band based on at least the center frequency value, bandwidth size, frequency difference parameter and the number of frequency comparison combinations.

[0073] The high-frequency band frequency value may refer to the frequency value of the high-frequency part to be added to the warning audio.

[0074] In another specific embodiment, optionally, the high frequency band frequency value is calculated at least in the following manner:

[0075] f(n)=EPB+Fc-nf d ;

[0076] Where f(n) represents the frequency value of the high frequency band, n represents the number of frequency comparison combinations, and f d Represents the frequency difference parameter.

[0077] In another specific embodiment, if only the audio volume value of the warning audio is determined through the above step S4, or the high frequency band frequency value and the audio volume value of the warning audio are determined at the same time, step S4 specifically includes:

[0078] (4-1) Determine the center frequency value of the filter module based on at least the environmental perception parameter and the scene perception parameter, and then calculate the bandwidth size of the filter module based on the center frequency value.

[0079] (4-2) Calculate the frequency value of the high frequency band based on at least the center frequency value, bandwidth size, frequency difference parameter and the number of frequency comparison combinations.

[0080] (4-3) When the number of frequency comparison combinations is zero, the original volume value is determined based on at least the center frequency value and the bandwidth size.

[0081] Among them, according to the calculation formula of the high-frequency band frequency value mentioned above, if the number of frequency comparison combinations is zero, then the high-frequency band frequency value is the sum of the bandwidth size and the center frequency value, and the original volume value corresponds to the high-frequency band frequency value at this time, that is, the original volume value is only related to the bandwidth size and the center frequency value. It can be understood that in some embodiments, since the mapping relationship between the environmental perception parameters, the scene perception parameters and the center frequency value can be obtained through pre-experimental calibration, and according to the bandwidth size calculation formula of the filter module, it can be known that the bandwidth size and the center frequency value correspond one to one, therefore, the correspondence between the center frequency value, the bandwidth size and the original volume value can also be obtained through pre-experimental calibration.

[0082] (4-4) When the frequency comparison combination number is non-zero, the volume increase value is determined based on at least the frequency value of the high frequency band.

[0083] The volume increase value may refer to the amount of volume increase in the warning audio to ensure clarity and adaptability when the warning initiator intends to increase the high-frequency value of the warning audio. It is understood that the mapping relationship between the high-frequency band frequency value and the volume increase value can also be obtained through pre-experimental calibration.

[0084] (4-5) Calculate the audio volume value according to the original volume value and the volume increase value.

[0085] The audio volume value may be the sum of the original volume value and the volume increase value.

[0086] In another specific embodiment, optionally, the audio volume value is calculated at least in the following manner:

[0087] L(f)=L(0)+L(n);

[0088] Where L(f) represents the audio volume value, L(0) represents the original volume value, and L(n) represents the volume increase value.

[0089] The technical solution provided in this embodiment first obtains at least one environmental perception parameter and at least one scene perception parameter of the spatial position of the warning initiating subject; secondly, detects at least one active obstacle within the preset spatial range where the warning initiating subject is located, and determines the orientation information of each active obstacle relative to the warning initiating subject; then, determines the directional parameters of the warning audio to be emitted by the warning initiating subject based on the orientation information; finally, determines at least the high-frequency band frequency value and / or audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and the number of frequency comparison combinations of the filter module in the warning initiating subject.

[0090] In view of this, taking a vehicle as an example, on the one hand, this embodiment can dynamically adjust at least the warning audio direction, warning audio frequency band and / or warning audio volume by real-time sensing the environment, scene and the relative position of active obstacles (such as pedestrians) relative to the warning initiator (i.e., the vehicle itself), so that the warning audio can be clearly and effectively conveyed to pedestrians in different situations, greatly improving the recognition and warning effect of the warning audio, and helping to reduce the possibility of traffic accidents. On the other hand, this embodiment can use sound effects that are adapted to the scene in different scenarios, avoiding the warning audio being too harsh or abrupt in certain scenarios, improving the comfort of pedestrians and surrounding residents, and reducing noise interference to the environment. On the other hand, this embodiment can automatically make intelligent adjustments based on various real-time information without manual intervention, adapting to different driving environments and scene changes, and providing more reliable protection for traffic safety.

[0091] It should be noted that, in addition to passenger cars, the warning initiator can also be other means of transportation, such as commercial vehicles, motorcycles, electric bicycles, ships, etc.

[0092] Of course, continuing to take the vehicle as an example, in another specific implementation, the vehicle can at least determine the timbre, rhythm and other parameters of the warning audio based on the environmental perception parameters, scene perception parameters, and the frequency difference parameters and frequency comparison combination times of the filter module in the warning initiating body; such a setting can at least adopt a softer and soothing rhythm and timbre in the low-speed driving scenario in sensitive areas to avoid causing panic among pedestrians. For example, if the cockpit domain controller receives environmental information indicating a noisy daytime environment (when the vehicle is traveling on a main urban road, the noise sensor detects an ambient noise level of 75 decibels; the microphone collects surrounding sounds such as vehicle traffic and crowd noise; the sunlight sensor also detects ambient light intensity; if the current time is daytime and the light intensity is high, it is determined to be a noisy daytime environment), the scene information indicates a low-speed driving scenario in a school area (the vehicle speed is 20 km / h, and the GPS positioning information indicates that the vehicle is located near a school. Combined with map data, it is determined that the vehicle is in a low-speed driving scenario in a school area), and a pedestrian is 30° to the right of the vehicle and 3 meters away, then to ensure that the warning sound is clearly heard by the pedestrian, the warning audio volume can be increased by 15 dB, and the high-frequency components can be increased to make the sound sharper and easier to recognize. However, considering the unique characteristics of school areas, a softer tone and rhythm can also be selected to avoid startling students. Furthermore, the directionality of the warning audio is adjusted based on the relative position of the vehicle and pedestrian, so that the sound is more concentrated in the direction 30° to the right in front.

[0093] Figure 2 This is a schematic diagram of the structure of a warning audio control device provided by an embodiment of the present invention. This embodiment is at least applicable to warning audio control and playback scenarios of various types of vehicles, especially passenger cars, such as fuel vehicles, hybrid vehicles, plug-in hybrid vehicles, pure electric vehicles, unmanned vehicles, etc. The warning audio control device can be implemented in software and / or hardware. Figure 2 As shown, the warning audio control device 100 at least includes:

[0094] The parameter acquisition module 110 is used to acquire at least one environmental perception parameter and at least one scene perception parameter of the spatial location of the alert initiating subject;

[0095] A position information determination module 120 is configured to detect at least one active obstacle within a preset spatial range where the warning initiator is located, and determine the position information of each active obstacle relative to the warning initiator;

[0096] A first parameter determination module 130 is configured to determine a directional parameter of the warning audio to be emitted by the warning initiator according to the direction information;

[0097] The second parameter determination module 140 is at least used to determine at least the high frequency band frequency value and / or audio volume value of the warning audio based on the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and frequency comparison combination number of the filter module in the warning initiating entity.

[0098] Optionally, the second parameter determination module 140 is specifically configured to:

[0099] Determine a center frequency value of the filter module based on at least the environment perception parameter and the scene perception parameter, and then calculate a bandwidth of the filter module based on the center frequency value;

[0100] The frequency value of the high frequency band is calculated based on at least the center frequency value, the bandwidth size, the frequency difference parameter and the number of frequency comparison combinations.

[0101] Optionally, the second parameter determination module 140 is specifically configured to:

[0102] Determine a center frequency value of the filter module based on at least the environment perception parameter and the scene perception parameter, and then calculate a bandwidth of the filter module based on the center frequency value;

[0103] Calculating the frequency value of the high frequency band based on at least the center frequency value, the bandwidth size, the frequency difference parameter and the number of frequency comparison combinations;

[0104] When the number of frequency comparison combinations is zero, determining the original volume value based on at least the center frequency value and the bandwidth size;

[0105] When the frequency comparison combination number is non-zero, determining the volume increase value based on at least the frequency value of the high frequency band;

[0106] Calculates the audio volume value based on the original volume value and the volume increase value.

[0107] Optionally, the bandwidth of the filter module is calculated at least in the following manner:

[0108] EPB = 24.7 × (4.37 × Fc + 1);

[0109] Where, EPB represents the bandwidth, and Fc represents the center frequency.

[0110] Optionally, the high frequency band frequency value is calculated at least in the following manner:

[0111] f(n)=EPB+Fc-nf d ;

[0112] Where f(n) represents the frequency value of the high frequency band, n represents the number of frequency comparison combinations, and f d Represents the frequency difference parameter.

[0113] Optionally, the audio volume value is calculated by at least the following method:

[0114] L(f)=L(0)+L(n);

[0115] Where L(f) represents the audio volume value, L(0) represents the original volume value, and L(n) represents the volume increase value.

[0116] The technical solution provided in this embodiment is as follows: first, at least one environmental perception parameter and at least one scene perception parameter of the spatial position of the warning initiating subject are obtained through a parameter acquisition module; secondly, at least one active obstacle within a preset spatial range where the warning initiating subject is located is detected through a position information determination module, and the position information of each active obstacle relative to the warning initiating subject is determined; then, the first parameter determination module determines the directional parameters of the warning audio to be issued by the warning initiating subject based on the position information; finally, the second parameter determination module determines at least the high-frequency band frequency value and / or audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and the number of frequency comparison combinations of the filter module in the warning initiating subject.

[0117] In view of this, taking a vehicle as an example, on the one hand, this embodiment can dynamically adjust at least the warning audio direction, warning audio frequency band and / or warning audio volume by real-time sensing the environment, scene and the relative position of active obstacles (such as pedestrians) relative to the warning initiator (i.e., the vehicle itself), so that the warning audio can be clearly and effectively conveyed to pedestrians in different situations, greatly improving the recognition and warning effect of the warning audio, and helping to reduce the possibility of traffic accidents. On the other hand, this embodiment can use sound effects that are adapted to the scene in different scenarios, avoiding the warning audio being too harsh or abrupt in certain scenarios, improving the comfort of pedestrians and surrounding residents, and reducing noise interference to the environment. On the other hand, this embodiment can automatically make intelligent adjustments based on various real-time information without manual intervention, adapting to different driving environments and scene changes, and providing more reliable protection for traffic safety.

[0118] This embodiment provides an electronic device, Figure 3 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 3The electronic device 1000 includes a processor 1001 and a memory 1002. The memory 1002 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 1001, the steps in any one of the above warning audio control methods are executed. Through the above technical solution, the processor 1001 and the memory 1002 are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanisms (not shown). The memory 1002 stores a computer program executable by the processor. When the electronic device 1000 is running, the processor 1001 executes the computer program to execute the warning audio control method in any optional implementation of the above embodiment to achieve at least the following functions: obtaining at least one environmental perception parameter and at least one scene perception parameter of the spatial position of the warning initiating subject; detecting at least one active obstacle within the preset spatial range of the warning initiating subject, and determining the orientation information of each active obstacle relative to the warning initiating subject; determining the directional parameters of the warning audio to be emitted by the warning initiating subject based on the orientation information; and determining at least the high-frequency band frequency value and / or audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and the number of frequency comparison combinations of the filter module in the warning initiating subject.

[0119] The present embodiment provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the warning audio control method provided in all the inventive embodiments of the present application: obtaining at least one environmental perception parameter and at least one scene perception parameter of the spatial position of the warning initiating subject; detecting at least one active obstacle within a preset spatial range where the warning initiating subject is located, and determining the orientation information of each active obstacle relative to the warning initiating subject; determining the directional parameters of the warning audio to be emitted by the warning initiating subject based on the orientation information; and determining at least the high-frequency band frequency value and / or audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and the number of frequency comparison combinations of the filter module in the warning initiating subject.

[0120] Any combination of one or more computer-readable media can be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or device.

[0121] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0122] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0123] The computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0124] This embodiment provides a vehicle that is integrated with at least a warning sound emitting device (such as a speaker, a horn, etc.) and a warning audio control device as provided in all the inventive embodiments of this application. Figure 4 This is a partial structural diagram of a vehicle provided by an embodiment of the present invention, see Figure 4 The warning sound emitting device 200 is connected to the warning audio control device 100. The warning sound emitting device 200 is at least used to emit warning audio according to the directional parameters, high frequency band frequency value and / or audio volume value issued by the warning audio control device 100, which will not be repeated here.

[0125] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A warning audio control method, characterized in that: At least: Obtaining at least one environmental perception parameter and at least one scene perception parameter of the spatial location of the alert initiating subject; Detecting at least one active obstacle within a preset spatial range where the warning initiating subject is located, and determining the position information of each active obstacle relative to the warning initiating subject; Determining the directional parameters of the warning audio to be emitted by the warning initiating entity according to the direction information; At least the high frequency band frequency value and / or audio volume value of the warning audio are determined based on at least the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and frequency comparison combination number of the filter module in the warning initiating body.

2. The warning audio control method according to claim 1, characterized in that: The step of determining at least a high-frequency band frequency value and / or an audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and a frequency difference parameter and a frequency comparison combination number of the filter module in the warning initiating subject specifically includes: Determining a center frequency value of the filter module at least according to the environmental perception parameter and the scene perception parameter, and then calculating a bandwidth of the filter module based on the center frequency value; The high frequency band frequency value is calculated at least according to the center frequency value, the bandwidth size, the frequency difference parameter and the number of frequency comparison combinations.

3. The warning audio control method according to claim 1, characterized in that: The step of determining at least a high-frequency band frequency value and / or an audio volume value of the warning audio based on at least the environmental perception parameter, the scene perception parameter, and a frequency difference parameter and a frequency comparison combination number of the filter module in the warning initiating subject specifically includes: Determining a center frequency value of the filter module at least according to the environmental perception parameter and the scene perception parameter, and then calculating a bandwidth of the filter module based on the center frequency value; Calculating the high frequency band frequency value at least based on the center frequency value, the bandwidth size, the frequency difference parameter, and the number of frequency comparison combinations; When the frequency comparison and combination times is zero, determining an original volume value based at least on the center frequency value and the bandwidth size; When the frequency comparison and combination times are non-zero, determining a volume increase value based at least on the frequency value of the high frequency band; The audio volume value is calculated according to the original volume value and the volume increase value.

4. The warning audio control method according to claim 2 or 3, characterized in that: The bandwidth of the filter module is calculated at least in the following manner: EPB = 24.7 × (4.37 × Fc + 1); Wherein, EPB represents the bandwidth size, and Fc represents the center frequency value.

5. The warning audio control method according to claim 2 or 3, characterized in that: The high frequency band frequency value is calculated at least in the following manner: f(n)=EPB+Fc-nf d ; Wherein, f(n) represents the frequency value of the high frequency band, n represents the number of times the frequency comparison is combined, and f d represents the frequency difference parameter.

6. The warning audio control method according to claim 3, characterized in that: The audio volume value is calculated at least in the following manner: L(f)=L(0)+L(n); Wherein, L(f) represents the audio volume value, L(0) represents the original volume value, and L(n) represents the volume increase value.

7. A warning audio control device, characterized in that: At least: A parameter acquisition module, configured to acquire at least one environmental perception parameter and at least one scene perception parameter of the spatial location of the alert initiating subject; a position information determination module, configured to detect at least one movable obstacle within a preset spatial range where the warning initiating subject is located, and determine the position information of each movable obstacle relative to the warning initiating subject; A first parameter determination module is used to determine the directional parameters of the warning audio to be emitted by the warning initiating subject according to the direction information; The second parameter determination module is at least used to determine at least the high-frequency band frequency value and / or audio volume value of the warning audio based on the environmental perception parameter, the scene perception parameter, and the frequency difference parameter and frequency comparison combination number of the filter module in the warning initiating body.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the program, the steps of the warning audio control method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the warning audio control method according to any one of claims 1 to 6 are implemented.

10. A means of transport, characterized in that: At least an alarm sound emitting device and an alarm audio control device as claimed in claim 7 are integrated; The warning sound emitting device is connected to the warning audio control device, and is at least used to emit the warning audio according to the directionality parameter, the high frequency band frequency value and / or the audio volume value issued by the warning audio control device.

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